Surgical robot control method, computer device, and surgical robot system

ABSTRACT

This application provides a surgical robot control method, a computer device, and a surgical robot system. The surgical robot control method includes: receiving a user demand, and generating an interactive control command; generating a motion control command according to the interactive control command; and controlling a terminal of a mechanical arm to perform the motion control command. The motion control command includes controlling the terminal of the mechanical arm to act in accordance with a plurality of motion modes. The surgical robot control method may control the terminal of the mechanical arm to act in accordance with the plurality of motion modes through the motion control command, realize different motion schemes in various clinical application scenarios, and realize controlling the terminal of the mechanical arm to be flexibly switched between the plurality of motion modes in any application scenario through the interactive control command.

RELATED APPLICATION

This application is a U.S. National Stage of International ApplicationNo PCT/CN2021/120212, filed on Sep. 24, 2021, which claims thepriorities of Chinese Patent Application No. 2020110246268, filed onSep. 25, 2020, entitled “Control Method for Terminal Adapter ofMechanical Arm”, and Chinese Patent Application No. 2021104838338, filedon Apr. 30, 2021, entitled “Control Method and Control System forSurgical Robot”, and Chinese Patent Application No. 2020110269753, filedon Sep. 25, 2020, and entitled “Surgical Robot Control Method, ComputerDevice, and Surgical Robot System”, which are hereby incorporated byreference in their entireties.

TECHNICAL FIELD

This application relates to the field of medical technology, and moreparticularly, to a surgical robot control method, a computer device, anda surgical robot system.

BACKGROUND

A surgical robot-assisted surgery can improve the efficiency and thequality of the surgery. The surgical robot includes hardware devicessuch as a control system, a mechanical arm, a ground brake, a footpedal, and an imaging device. The mechanical arm, the ground brake, thefoot pedal, and the imaging device are connected to the control system,respectively. The control system and the mechanical arm include aplurality of control logic arithmetic systems therein. The arithmeticlogic of the control logic arithmetic system of the conventionalsurgical robot is not clear, the operation of the mechanical armcontrolled by the control system is not flexible enough, and the safetyperformance is poor.

SUMMARY

In order to solve a problem of safety hazard caused by a massiveincrease in heat generation of a human body due to an addition of ametasurface in the prior art, a magnetic field enhancement assembly anda magnetic field enhancement device are provided.

This application provides a surgical robot control method including:

-   -   receiving a user demand, and generating an interactive control        command;    -   generating a motion control command according to the interactive        control command; and    -   controlling a terminal of a mechanical arm to perform the motion        control command, and the motion control command comprising        controlling the terminal of the mechanical arm to act in        accordance with a plurality of motion modes.

A surgical robot control system includes:

-   -   a master control module, configured to generate a motion control        command;    -   an interaction module, being in an information interaction with        the master control module, and configured to receive a user        demand, generate an interactive control command, and send the        interactive control command to the master control module; and    -   a plurality of motion modules, being in information interactions        with the master control module, and configured to perform the        motion control command.

A surgical robot control method includes:

-   -   acquiring position and orientation information at a first anchor        point and position and orientation information at a second        anchor point of a terminal adapter fixed at a terminal of a        mechanical arm, and obtaining a planned path of the mechanical        arm corresponding to the terminal adapter moving from the first        anchor point to the second anchor point along a first axis,        based on the position and orientation information at the first        anchor point and the position and orientation information at the        second anchor point; the first axis passing through the first        anchor point, the second anchor point, a first craniotomy point,        and a first target point sequentially, and the terminal adapter        being configured to clamp a surgical instrument;    -   determining whether a singularity occurs in the planned path of        the mechanical arm;    -   acquiring a control signal if no singularity occurs in the        planned path of the mechanical arm;    -   converting the control signal to a velocity signal; and    -   controlling the mechanical arm to move according to the velocity        signal to drive the terminal adapter to move between the first        anchor point and the second anchor point in a straight line        along the first axis.

A computer device includes a memory and a processor. A computer programis stored on the memory, and the processor, when executing the computerprogram, performs steps of the method of any embodiments above.

A surgical robot system includes a mechanical arm; a signal sensingdevice, fixed to a terminal of the mechanical arm; a terminal adapter,fixedly mounted to the signal sensing device, and configured to have asurgical instrument mounted thereon and receive a control signal; and acontrol device, including a memory and a processor. A computer programis stored on the memory, and the processor, when executing the computerprogram, performs steps of the method of any embodiment above.

A control method for a terminal adapter of a mechanical arm, includes:

-   -   acquiring a first path, the first path passing through a second        target point and a second craniotomy point, and the terminal        adapter being located at a third anchor point, and the first        path passing through the third anchor point, the second        craniotomy point, and the second target point in sequence; and    -   obtaining a position command, and controlling the terminal        adapter to move along a first plane or a first spherical surface        in which the third anchor point is located according to the        position command. The first plane is perpendicular to the first        path.

A surgical robot system includes a mechanical arm, comprising a terminaladapter; and a control device, comprising a memory and a processor,wherein a computer program is stored in the memory, and the processor,when executing the computer program, performs steps of the method of anyembodiment above.

A computer-readable storage medium has a computer program storedthereon. The computer program, when executed by a processor, causes theprocessor to perform steps of the method of any embodiment.

This application relates to the surgical robot control method, thecomputer device, and the surgical robot system. The surgical robotcontrol method includes: receiving the user demand, and generating theinteractive control command; generating the motion control commandaccording to the interactive control command; and controlling theterminal of the mechanical arm to perform the motion control command.The motion control command includes controlling the terminal of themechanical arm to act in accordance with the plurality of motion modes.The surgical robot control method may control the terminal of themechanical arm to act in accordance with the plurality of motion modesthrough the motion control command, realize different motion schemes invarious clinical application scenarios, and realize controlling theterminal of the mechanical arm to be flexibly switched between theplurality of motion modes in any application scenario through theinteractive control command.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to illustrate the technical solutions in the embodiments ofthis application or the prior art more clearly, the accompanyingdrawings required for the description of the embodiments of thisapplication or the prior art will be described briefly. Obviously, theaccompanying drawings described hereinafter are merely embodiments ofthis application, and other drawings may be obtained by those ofordinary skill in the art without involving any creative effortsaccording to the disclosed drawings.

FIG. 1 is a schematic view showing a surgical robot control systemaccording to an embodiment of this application;

FIG. 2 is a schematic view showing a motion module according to anembodiment of this application;

FIG. 3 is a schematic view showing an interaction module according to anembodiment of this application;

FIG. 4 is a schematic view showing switching between different motionmodules according to an embodiment of this application;

FIG. 5 is a schematic view showing a surgical robot control systemaccording to an embodiment of this application;

FIG. 6 is a schematic view showing the surgical robot control systemaccording to another embodiment of this application;

FIG. 7 shows a main interface of a plurality of motion modules accordingto an embodiment of this application;

FIG. 8 shows an interface of an axial motion module according to anembodiment of this application;

FIG. 9 shows an interface of planar fine-adjustment in a fine-adjustmentmotion module according to an embodiment of this application;

FIG. 10 shows an interface of spheric fine-adjustment in thefine-adjustment motion module according to an embodiment of thisapplication;

FIG. 11 is a schematic flow chart of a surgical robot control methodaccording to an embodiment of this application;

FIG. 12 is a schematic view showing a structure of the surgical robotsystem according to an embodiment of this application;

FIG. 13 is a schematic flow chart of the surgical robot control methodaccording to another embodiment of this application;

FIG. 14 is a schematic flow chart of a velocity control method accordingto an embodiment of this application;

FIG. 15 is a flow chart of a control method of a terminal adapter of amechanical arm according to an embodiment of this application;

FIG. 16 is a schematic view showing a plane mode of the terminal adapterof the mechanical arm according to an embodiment of this application;

FIG. 17 is a flow chart of the control method of the terminal adapter ofthe mechanical arm according to an embodiment of this application;

FIG. 18 is a flow chart of the control method of the terminal adapter ofthe mechanical arm according to another embodiment of this application;

FIG. 19 is a flow chart of the control method of the terminal adapter ofthe mechanical arm according to yet another embodiment of thisapplication;

FIG. 20 is a flow chart of the control method of the terminal adapter ofthe mechanical arm according to yet another embodiment of thisapplication;

FIG. 21 is a schematic view showing a switching from the plane mode tothe spheric mode of the terminal adapter of the mechanical arm accordingto an embodiment of this application;

FIG. 22 is a flow chart of the control method of the terminal adapter ofthe mechanical arm according to another embodiment of this application;

FIG. 23 is a flow chart of the control method of the terminal adapter ofthe mechanical arm according to yet another embodiment of thisapplication;

FIG. 24 is a flow chart of the control method of the terminal adapter ofthe mechanical arm according to yet another embodiment of thisapplication;

FIG. 25 is a schematic view showing a spheric mode of the terminaladapter of the mechanical arm according to an embodiment of thisapplication;

FIG. 26 is a flow chart of a control method of the terminal adapter ofthe mechanical arm according to another embodiment of this application;and

FIG. 27 is a flow chart of a control method of the terminal adapter ofthe mechanical arm according to yet another embodiment of thisapplication.

In the drawings:

-   -   surgical robot control system 100, master control module 10,        interaction module 20, self-circulating interaction device 21,        autonomous interaction device 22, predefined motion interaction        device 23, one-way switching device 24, motion module 30, free        motion module 31, autonomous motion module 32, axial motion        module 33, fine-adjustment motion module 34, spheric motion        module 35, safety prevention and control system 40, emergency        stop device 41, safety boundary arithmetic device 42, obstacle        collision evading device 43, trajectory interlocking device 44,        surgical robot system 50, signal sensing device 70,    -   first connecting member 300, terminal adapter 80, second        connecting member 400,    -   first craniotomy point 121, second craniotomy point 122, third        craniotomy point 123, fourth craniotomy point 124, fifth        craniotomy point 125,    -   first target point 131, second target point 132, third target        point 133,    -   first axis 100, optical monitoring device 110, optical element        116, detector 117, mechanical arm 60, first path 111, first        limit point 113, second path 112, second limit point 114, third        path 115, maximum allowable distance Lmax, maximum allowable arc        length Lmax,    -   first anchor point 210, second anchor point 220, third anchor        point 330, fourth anchor point 440, fifth anchor point 450,        sixth anchor point 460 DETAILED DESCRIPTION OF THE EMBODIMENTS

In order to facilitate understanding of this application, thisapplication will be described more fully hereinafter with reference tothe accompanying drawings. Preferred embodiments of this application areshown in the accompanying drawings. However, this application may beimplemented in many different forms and is not limited to theembodiments described herein. On the contrary, these embodiments areprovided for a more thorough understanding of the present disclosure.

It should be noted that when an element is referred to as being “fixed”on another element, the element may be directly on the other element orthere may be an intermediate element therebetween. When an element isreferred to as being “connected” to another element, the element may bedirectly connected to the other element or there may be an intermediateelement therebetween. As used herein, the terms “vertical”,“horizontal”, “left”, “right”, and the like, are used for purposes ofillustration only, but are not intended to represent a uniqueembodiment.

Unless defined otherwise, all technical and scientific terms used hereinhave the same meaning as commonly understood by the ordinary skill inthe art to which this application belongs. The terminologies in thespecification of this application are used for the purpose of describingspecific embodiments only, but are not intended to limit theapplication, the term “and/or” used herein includes any combination andall combinations of one or more of relevant listed items.

The terms “first” and “second” in this application do not representspecific numbers and a specific order, but are just used fordistinguishing objects.

Referring to FIG. 1 , FIG. 1 shows a surgical robot control system 100provided in this application. The surgical robot control system 100includes a master control module 10, an interaction module 20, and aplurality of motion modules 30.

The master control module 10 is configured to generate a motion controlcommand. The master control module 10 may include a computer host and acomputer program stored in the computer host.

The interaction module 20 is in an information interaction with themaster control module 10. The interaction module 20 is configured toreceive a motion control command from the master control module 10 andgenerate an interactive control command according to a user'srequirement. The user's requirement herein may be to control amechanical arm to move a certain distance in a certain direction, or tocontrol the terminal of the mechanical arm to enter a certain precisionarea.

The plurality of motion modules 30 are in information interactions withthe master control module 10. The plurality of motion modules 30 areconfigured to perform the motion control command. Moreover, theplurality of motion modules 30 are in information interactions with theinteraction module 20, that is, the plurality of motion modules 30 arelogically interconnected with the interaction module 20. Similarly, theuser clicks on a certain motion module of the plurality of motionmodules 30 through the interaction module 20. The command is passed tothe master control module 10, and a control software in the mastercontrol module 10 generates a motion control command required by thecertain motion module, then the motion control command is sent to theplurality of motion modules 30, and the corresponding motion mode isperformed by the mechanical arm and the mechanical arm control system.The plurality of motion modules 30 may be switched to each other. Theswitching between the plurality of motion modules 30 may direct a moresecure and flexible motion of the mechanical arm or the terminal of themechanical arm.

The surgical robot control system 100 provided in this embodiment maymanage or switch the motion modes of the plurality of motion modules 30through the interaction module 20, thereby realizing flexible switchingbetween the motion modes in any application scenario and achieving asecure and reliable real-time motion function of the mechanical arm. Inaddition, the surgical robot control system 100 in the presentembodiment may be applied to flexible, reliable, and safe multi-modemotion modules and motion schemes of a mechanical arm, and it is notonly applicable to a stereotactic surgical robot, but also applied to asurgical robot, which is based on six-degree-of-freedom mechanical armor seven-degree-of-freedom mechanical arm and used in an orthopedic orspinal-type treatment such as a joint replacement, a bone injurytreatment, and the like.

Referring to FIG. 2 , FIG. 2 is a schematic view showing a motion module30 according to an embodiment of this application. In an embodiment, theplurality of motion modules 30 include a free motion module 31, anautonomous motion module 32, an axial motion module 33, and anadjustment motion module.

The free motion module 31 is in information interactions with each ofthe master control module 10 and the interaction module 20. The freemotion module 31 is configured to control a free movement of theterminal of the mechanical arm. In the free motion module 31, the usermanually drags the terminal of the mechanical arm to move freely, thatis, the user may control the mechanical arm to move freely in motionspace of the mechanical arm. Specifically, the free motion module 31 maycontrol the mechanical arm, under any condition that the mechanical armis movable, to move in any trajectory by manually dragging the terminalof the mechanical arm by the user. Generally, a gripping portion, whichmakes it convenient for a user to grip, is provided at the terminal ofthe mechanical arm. The gripping portion may make front, rear, left,right, up, and down translational motions nearby the gripping portion,may make counterclockwise and clockwise rotations, and the like, and maymake a resultant motion of the rotational and translational motions. Ina specific implementation, the user instructs to enter a working stateof the free motion module 31 through the master control module 10. Thatis, the user clicks a button “free movement” on an operation interfaceof the master control module 10, then may enter the free motion module31 to work.

During an implementation, the master control module 10 receives an inputof entering the free motion module 31 from the user, and then sends aparameter of a free motion mode and a command of unlocking themechanical arm to the free motion module 31. The free motion module 31receives two parameters above, and determines whether a communicationwith the six-degree-of-freedom force sensor arranged at the terminal anddata reading are normal or not, for the reason that the free motion modeis a force control mode, and a prerequisite is that thesix-degree-of-freedom force sensor at the terminal operates normally. Ifyes, the parameter of the free motion mode, and points which arerequired for the mechanical arm joint motion and calculated according toreal-time external force information acquired by thesix-degree-of-freedom force sensor, are sent to an underlying controlhardware (which may be a mechanical arm control cabinet). When it isdetected that an enable signal of the foot pedal is effective, theunderlying control hardware executes the free motion mode according toexternal drag force information.

The autonomous motion module 32 is in information interactions with eachof the master control module 10 and the interaction module 20. Theautonomous motion module 32 is configured to make an autonomous motionaccording to a path point planned by the master control module 10.Without a manual intervention of the user, the terminal of themechanical arm automatically moves from a current position to apredefined surgical target point, thereby realizing positioning andorienting functions of the surgical instrument. The autonomous motionmodule 32 refers to the autonomous motion module which enables the robotor the mechanical arm to avoid obstacles autonomously.

In a specific embodiment, the master control module 10 itself determineswhether a spatial registration process has been completed, and whether aspatial registration result has been confirmed, which are ensured by aworkflow. The master control module 10 needs to send path information (astarting point and a final point) to be planned to a path planningalgorithm of the autonomous motion module 32. The autonomous motionmodule 32 plans a path according to the path information. After theplanning is successful, the trajectory points are sent to the underlyingcontrol hardware (the mechanical arm control cabinet). The underlyingcontrol hardware waits for the foot pedal to be stepped down, and themechanical arm performs according to the planned path points till itmoves to the final target point.

The axial motion module 33 is in information interactions with each ofthe master control module 10 and the interaction module 20. The axialmotion module 33 is configured to control the terminal of the mechanicalarm to move along a predefined axial direction. When manually dragged bythe user, the terminal of the mechanical arm can only move in onedirection of the surgical instrument depth puncturing direction, andcannot move or rotate in any other direction. During a surgery, afterthe mechanical arm completes an automatic motion and is positioned, asurgeon needs to manually adjust a distance between the surgicalinstrument and the target point without affecting the pose, therebyachieving the more accurate orienting function.

In a specific embodiment, the master control module 10 itself determineswhether the spatial registration process has been completed, and whetherthe spatial registration result has been confirmed, which are ensured bythe workflow.

The master control module 10 itself determines whether a process forperforming one path has been completed and whether the path has beenmoved through. Since the axial motion module 33 and the autonomousmotion module 32 are coupled together, i.e., the axial motion mode isenabled only after the autonomous movement has been completed in acertain path and the path has been moved through, otherwise the axialmotion mode is always in a disabled state, i.e., the user cannotactively trigger the axial motion mode.

After receiving the parameter of the axial mode (the axial mode is alsoa force control mode based on the six-degree-of-freedom force sensor),the axial motion module 33 checks the operation of thesix-degree-of-freedom force sensor. If the operation is normal, themotion points of the axial motion of the mechanical arm are calculatedaccording to an axial motion algorithm and sent to the underlyingcontrol hardware. After receiving the parameter of the axial mode andreceiving the motion points which the mechanical arm will move to, theunderlying control hardware performs the axial motion under the controlof the foot pedal.

The fine-adjustment motion module 34 is in information interactions witheach of the master control module 10 and the interaction module 20. Thefine-adjustment motion module 34 is configured to control the terminalof the mechanical arm to translate for a predetermined distance in afixed direction in a predefined plane. An automatic motion can beaccomplished according to predefined motion parameters without theuser's manual dragging. In combination with clinical applicationscenarios, there may be a planar fine-adjustment and a sphericfine-adjustment. The planar fine-adjustment refers to a step motion ofmoving at equal intervals or at set intervals along the front, rear,left, and right directions in an end face of an instrument arranged atthe terminal of the mechanical arm, and the motions may be furtherexpanded to motions in eight directions including four diagonaldirections. The spheric fine-adjustment refers to a motion of moving atequal arc along the front, rear, left, and right directions in aspherical surface having a constant radius and centered on a targetpoint. The planar fine-adjustment mode and the spheric fine-adjustmentmode refer to stepping for a small displacement on a specific plane orspherical surface. Whereas, the spheric mode means that a human assiststhe mechanical arm in moving within a particular area (e.g., within acone) without going beyond the area while the center point of theinstrument remains unchanged. Specifically, the fine-adjustment motionmodule 34 may provide parameters such as a fine-adjustment step size, afine-adjustment distance, and a fine-adjustment direction.

In a specific embodiment, the master control module 10 itself determineswhether the spatial registration process has been completed, and whetherthe spatial registration result has been confirmed, which are ensured bythe workflow. The master control module 10 itself determines whether aprocess for performing one path has been completed and whether the pathhas been moved through. The fine-adjustment motion mode is coupled withthe autonomous motion mode, that is the fine-adjustment motion mode isenabled only after the autonomous movement has been completed in acertain path and the path has been moved through, otherwise thefine-adjustment motion mode is always in a disabled state, i.e., theuser cannot actively trigger the fine-adjustment motion mode.

The adjustment motion module is in information interactions with each ofthe master control module 10 and the interaction module 20. Theadjustment motion module is configured for a final adjustment before theaxial motion of the terminal of the mechanical arm. In an embodiment,the adjustment motion module includes a fine-adjustment motion module 34and/or a spheric motion module 35. In other embodiments, the adjustmentmotion module may also include other types of irregular fine-adjustmentmotion modules.

After receiving parameters such as a mode parameter (the fine-adjustmentmode), a fine-adjustment distance and a fine-adjustment direction, thefine-adjustment motion module 34 calculates the motion points of thefine-adjustment motion of the mechanical arm according to afine-adjustment motion algorithm, and sends the motion points to theunderlying control hardware. After receiving the mode parameter (thefine-adjustment mode) and the motion points which the mechanical armwill move to, the underlying control hardware performs thefine-adjustment motion under the control of the foot pedal.

The spheric motion module 35 is in information interactions with each ofthe master control module 10 and the interaction module 20. The sphericmotion module 35 is configured to control the terminal of the mechanicalarm to move along a predefined spherical surface. The spheric motion issimilar to the above-mentioned spheric fine-adjustment motion mode, butdiffers from the spheric fine-adjustment motion mode in that the sphericmotion is a restricted spherical motion that is manually dragged by theuser according to different application scenarios.

In a specific embodiment, the master control module 10 itself determineswhether the spatial registration process has been completed, and whetherthe spatial registration result has been confirmed, which are ensured bythe workflow. The master control module 10 itself determines whether aprocess for performing one path has been completed and whether the pathhas been moved through. The spheric motion mode is coupled with theautonomous motion mode, that is the spheric motion mode is enabled onlyafter the autonomous movement has been completed in a certain path andthe path has been moved through, otherwise the spheric motion mode isalways in a disabled state, i.e., the user cannot actively trigger thespheric motion mode.

After receiving parameters such as a parameter of the spheric mode, aspheric distance, and a spherical direction, the spheric motion module35 calculates the motion points of the spheric motion of the mechanicalarm according to a spheric motion algorithm, and sends the motion pointsto the underlying control hardware. After receiving the parameter of thespheric mode and the motion points which the mechanical arm will moveto, the underlying control hardware performs the spheric motion underthe control of the foot pedal.

The surgical robot control system 100 provided in the presentapplication may enable the stereotactic surgical robot to satisfy motionschemes in various clinical application scenarios. Specifically, duringthe treatment of spinal diseases, the surgical robot based on thesix-degree-of freedom or seven-degree-of-freedom mechanical arm mayrealize that: the free motion module 31 is switched to the axial motionmodule 33, and after the terminal of the mechanical arm moves to a firstanchor point, the axial motion module 33 may be switched to thefine-adjustment motion module 34, and the terminal of the mechanical armmoves slowly to a second anchor point, and then specific surgicalprocedures are performed according to the surgical protocol. The secondanchor point is closer to an affected part than the first anchor pointis.

Referring to FIGS. 3 and 4 , FIG. 3 is a schematic view showing aninteraction module 20 according to an embodiment of this application.FIG. 4 is a schematic view showing switching between different motionmodules 30 according to an embodiment of this application. Differentmotion modules of the plurality of motion modules 30 may be flexiblyswitched according to actual clinical application scenarios, and a logicdiagram of flexible switching between different motion modules is shownin FIG. 4 .

In an embodiment, the interaction module 20 includes a self-circulatinginteraction device 21.

The self-circulating interaction device 21 is in informationinteractions with each of the plurality of motion modules 30. Theself-circulating interaction device 21 is configured to control eachmotion module of the plurality of motion modules 30 to executecircularly for several times. In this embodiment, after being elected,each motion module may execute circularly for several times, as shown by{circle around (1)} in FIG. 4 .

In an embodiment, the interaction module 20 further includes anautonomous interaction device 22.

The autonomous interaction device 22 is in information interactions witheach of the plurality of motion modules 30. The autonomous interactiondevice 22 is configured to control interactions between the autonomousmotion module 32 and each of the free motion module 31, the axial motionmodule 33, the fine-adjustment motion module 34, and the spheric motionmodule 35 to be performed, as shown by {circle around (2)} in FIG. 4 .

In an embodiment, the interaction module 20 further includes apredefined motion interaction device 23.

The predefined motion interaction device 23 is in informationinteractions with each of the axial motion module 33, thefine-adjustment motion module 34, and the spheric motion module 35. Thepredefined motion interaction device 23 is configured to control atwo-way interaction between the axial motion module 33 and thefine-adjustment motion module 34, a two-way interaction between theaxial motion module 33 and the spheric motion module 35, and a two-wayinteraction between the fine-adjustment motion module 34 and the sphericmotion module 35 to be performed, as shown by {circle around (3)} inFIG. 4 .

In an embodiment, the interaction module 20 further includes a one-wayswitching device 24.

The one-way switching device 24 is in information interactions with eachof the free motion module 31, the axial motion module 33, thefine-adjustment motion module 34, and the spheric motion module 35. Theone-way switching device 24 is configured to control a one-way switchingof each of the axial motion module 33, the fine-adjustment motion module34, and the spheric motion module 35 to the free motion module 31 to beperformed, as shown by {circle around (4)} in FIG. 4 .

Since during an actual operation of the plurality of motion modules 30,only after the process for performing a certain path has been completedaccording to the autonomous motion module, is it allowed to switch tothe axial motion module 33, the fine-adjustment motion module 34, andthe spheric motion module 35. Therefore, in the clinical applicationscenario, the switching of each of the axial motion module 33, thefine-adjustment motion module 34, and the spheric motion module 35 tothe free motion module 31 is the one-way switching.

Referring to FIG. 5 , FIG. 5 is a schematic view showing a surgicalrobot control system 100 according to an embodiment of this application.In an embodiment, the surgical robot control system 100 further includesa safety prevention and control system 40. The safety prevention andcontrol system 40 are in an information interaction with each of themaster control module 10 and the plurality of motion modules 30. Thesafety prevention and control system 40 is configured to execute thesafety prevention and control for the surgical robot control system 100.

The surgical robot control system 100 provided in this embodimentincludes the master control module 10, the interaction module 20, theplurality of motion modules 30, and the safety prevention and controlsystem 40. The surgical robot control system 100 of this embodimentincludes the safety prevention and control system 40 for executing thesafety prevention and control for the surgical robot control system 100.The surgical robot control system 100 may manage or switch the motionmodes of the plurality of motion modules 30 through the interactionmodule 20, thereby realizing flexible switching between the motion modesin any application scenario and achieving a safe and reliable real-timemotion function of the mechanical arm. In addition, the surgical robotcontrol system 100 in the present embodiment may be applied to flexible,reliable, and safe multi-mode motion modules and motion schemes of themechanical arm, and it is not only applicable to a stereotactic surgicalrobot, but also applicable to a surgical robot, which is based onsix-degree-of-freedom mechanical arm or seven-degree-of-freedommechanical arm and used in an orthopedic or spinal-type treatment suchas a joint replacement, a bone injury treatment, and the like.

The surgical robot control system 100 provided in the embodiment of thisapplication defines a plurality of motion modules 30 according toclinical scenarios. A corresponding security design has been consideredfor each motion module 30. When using the surgical robot control system100, the user only considers an actual clinical application and needsnot to pay too much attention to the security design, since thecorresponding security design is completely accomplished by the surgicalrobot control system 100. Moreover, according to the actual clinicalapplication scenario, all motion modes may be flexibly switched to eachother, thereby expanding the usability and security design in theapplication scenario of the stereotactic surgical robot, and furtherreducing the dependence of the surgeon user on the system operationexperience.

Referring to FIG. 6 , FIG. 6 is a schematic view showing a surgicalrobot control system 100 according to another embodiment of thisapplication. During the motion of the mechanical arm of the surgicalrobot, a main safety risk introduced during exercise is the possibilityof accidental collision to the patient's head, or to the cart itself.Therefore, the surgical robot control system 100 provided in thisapplication provides the following corresponding security design schemebased on identified safety risks.

In an embodiment, the safety prevention and control system 40 includesan emergency stop device 41.

The emergency stop device 41 is in information interactions with each ofthe plurality of motion modules 30. A user prevents the mechanical armfrom continuing moving via the emergency stop device 41 when the userdetermines that there is a safety risk to the movement of the mechanicalarm. Specifically, the emergency stop device 41 may be the foot pedalthat is in an information interaction with the mechanical arm.Conventionally, during operation of the surgical robot, only when theuser presses the foot pedal, can various motion modules 30 be triggered.When the user determines that there is a safety risk to the movement ofthe mechanical arm, the user may release the foot pedal at first toprevent all movements of the mechanical arm. In an embodiment, only whenthe user continues to step on the foot pedal during operations of thefree motion module 31, the autonomous motion module 32, the axial motionmodule 33, the fine-adjustment motion module 34, and the spheric motionmodule 35, can they each complete a corresponding motion process.

In an embodiment, the safety prevention and control system 40 furtherincludes a safety boundary arithmetic device 42.

The safety boundary arithmetic device 42 is in information interactionswith each of the free motion module 31, the axial motion module 33, andthe spheric motion module 35. The safety boundary arithmetic device 42is configured to warn the user of a safety risk when it is found that anactual motion trajectory is about to reach the security boundaryaccording to a real-time comparison between the actual motion trajectoryof the mechanical arm and a predefined security boundary.

In this embodiment, for the manual dragging movements of the free motionmodule 31, the axial motion module 33, the spheric motion module 35, andthe like, the master control module 10 cannot know all motiontrajectories in advance, but can compare the actual motion trajectorywith the predefined security boundary in real time. When the mastercontrol module 10 finds that the actual motion trajectory is about toreach the security boundary, the user may be prompted by a warning, avoice, or the like. When the actual motion trajectory reaches thesecurity boundary again, the master control module 10 may control thesafety boundary arithmetic device 42 to prevent the movement of themechanical arm, thereby avoiding further safety risks. It should benoted that only when the warning is confirmed by the user, is itpossible to drag the mechanical arm by the user to move within the rangeof the security boundary. For the axial motion module 33, a safetyboundary in the depth direction needs to be further defined according toa length of the surgical instrument and a length of the adapter, so asto ensure that the instrument or the terminal of the adapter, which isin the axial direction motion mode and under manual dragging of theuser, will not collide with the patient's head.

In an embodiment, the safety prevention and control system 40 furtherincludes an obstacle collision evading device 43.

The obstacle collision evading device 43 is in an informationinteraction with the autonomous motion module 32. The obstacle collisionevading device 43 is configured to generate a simplified obstacle modelbased on a system hardware model and an unknown-patient head model. Whenthe master control module 10 plans a path point for the autonomousmotion module 32, the obstacle collision evading device 43 generates anevasion path that may evade the simplified obstacle model. For the casethat the autonomous motion module 32 may plan a path trajectory inadvance, when planning the path, the system avoids a collisioninterference in advance and evade the collision under the condition thata cart model, a patient head model, and instrument models of otherinstruments are obtained.

The simplified obstacle model may be simplified to be a combination ofthe following three categories of models. The first category of model isa model of a system cart, an instrument, or a component that is in thecart and may be collided. After a mechanical design is completed, suchmodels have solidified, and may be exported through a dedicatedsoftware, and are called grid files and used for collision tests duringa path planning. The second category of model is the unknown-patienthead model, which may be acquired by CT scan of a preoperativeradiographic image prior to a surgery and finally transferred to acollision test algorithm in a slave computer to perform collision tests.The third category of model is a head frame model of numerous unknownhead frames of a third party, which are used for fixing the head, andsuch a category of model may be an encasing box model obtained byextending outwardly for approximate 20 mm to 60 mm on the basis of theobtained patient head model and a known model of mechanical assembly ofthe system used for fixing the patient's head. That is, no part of themechanical arm can enter the encasing box.

In an embodiment, the safety prevention and control system 40 furtherincludes a trajectory interlocking device 44.

The trajectory interlocking device 44 is in information interactionswith each of the plurality of motion modules 30. The trajectoryinterlocking device 44 is configured to monitor the motion trajectory ofthe mechanical arm in real time, and warn the user or directly prohibitthe movement of the mechanical arm when it is found that a deviationbetween the actual motion trajectory of the mechanical arm and theplanned motion trajectory is greater than a preset deviation.Specifically, when it is found that the deviation between the actualpath trajectory and the planned path trajectory is relatively large, awarning is issued in advance or the motion of the mechanical arm isprohibited in advance. The relatively large deviation may mean that thedeviation between the actual motion trajectory of the mechanical arm andthe planned motion trajectory is greater than the preset deviation.Since the deviation between the actual motion trajectory and the plannedmotion trajectory is relatively large (for example, a Euclidean distanceexceeds 1 cm), there must be some unpredictable anomalies resulting inan increased possibility of a final collision which may be evaded inadvance.

The surgical robot control system 100 of another embodiment of thisapplication further includes a velocity selecting device, a locking andunlocking device, a motion enabling device, and an automatic returningdevice. The velocity selecting device may set different motionvelocities for the motion modules 30 in different motion states. Thelocking and unlocking device may lock and control different motionstates of the motion modules 30. The motion enabling device may performan emergency stop process on the motion modules 30 in different motionstates. The automatic returning device may control the motion module 30to return from different motion states to an initial position.

This application also provides a surgical robot control method includingfollowing steps.

A user demand is received, and an interactive control command isgenerated. In these steps, the interaction module 20 above may beconfigured to receive the user demand and generate the interactivecontrol command.

A motion control command is generated according to the interactivecontrol command. In this step, the master control module 10 above may beconfigured to generate the motion control command.

The terminal of the mechanical arm is controlled to perform the motioncontrol command, and the motion control command includes controlling theterminal of the mechanical arm to act in accordance with a plurality ofmotion modes. In this step, the plurality of motion modules 30 above maybe configured to execute the plurality of motion modes, respectively.

In this embodiment, the surgical robot control method may implementdifferent motion schemes in various clinical application scenarios, andin any application scenario, the interactive control command may begenerated through receiving the user demand; the motion control commandis generated according to the interactive control command; the terminalof the mechanical arm is controlled to perform the motion controlcommand, and the motion control command includes controlling theterminal of the mechanical arm to act in accordance with the pluralityof motion modes, so that the surgical robot control method may realizeflexible switching between the plurality of motion modes. Specifically,during the treatment of the spinal diseases by using the surgical robothaving the mechanical arm based on the seven-degree-of-freedom forcesensor, the free motion mode may be switched to the axial directionmotion mode, and after the terminal of the mechanical arm moves to afirst anchor point, the axial direction motion mode may be switched tothe fine-adjustment motion mode, and the terminal of the mechanical armmoves slowly to a second anchor point, and then specific surgicalprocedures are performed according to the surgical protocol. The secondanchor point is closer to an affected part than the first anchor pointis.

In an embodiment, in the steps of the controlling the terminal of themechanical arm to perform the motion control command, and the motioncontrol command including controlling the terminal of the mechanical armto act in accordance with the plurality of motion modes, the pluralityof motion modes include: a free motion mode, an autonomous motion mode,an axial motion mode, a fine-adjustment motion mode, and a sphericmotion mode. In the free motion mode, the terminal of the mechanical armmay be controlled to make a free motion. In the autonomous motion mode,an autonomous motion may be performed according to path points plannedby the master control module 10. In the axial direction motion mode, theterminal of the mechanical arm may be controlled to move in a predefinedaxial direction. In the fine-adjustment motion mode, the terminal of themechanical arm may be controlled to move for a predetermined distance ina fixed direction in a predefined plane. In the spheric motion mode, theterminal of the mechanical arm may be controlled to move along apredefined spherical surface.

In an embodiment, the motion control command includes any one or more ofthe following four control commands:

-   -   control each of the plurality of motion modes to be performed        circularly for several times;    -   control interactions between the autonomous motion mode and each        of the free motion mode, the axial motion mode, the        fine-adjustment motion mode, and the spheric motion mode to be        performed;    -   control a two-way interaction between the axial motion mode and        the fine-adjustment motion mode, a two-way interaction between        the axial motion mode and the spheric motion mode, and a two-way        interaction between the fine-adjustment motion mode and the        spheric motion mode to be performed; or    -   control a one-way switching of each of the axial motion mode,        the fine-adjustment motion mode, and the spheric motion mode to        the free motion mode to be performed.

In this embodiment, reference may be made to a logic diagram of flexibleswitching between different motion modules, and FIG. 4 shows thatvarious motion systems in the plurality of motion modes may be flexiblyswitched to each other according to actual clinical applicationscenarios.

In an embodiment, the robot control method further includes performingan information interaction with at least one of the plurality of motionmodes to realize a safety prevention and control for the surgical robotcontrol system.

In this embodiment, the step of the safety prevention and control isadded, so that, in any application scenarios, the robot control methodmay achieve the flexible switching between the motion modes, and a safeand reliable real-time motion function of the mechanical arm. Inaddition, the surgical robot control method of this embodiment, whichmay be applied to a multi-mode motion system and motion schemes of themechanical arm having a flexible and reliable control strategy and highsecurity, is not only applicable to a stereotactic surgical robot, butalso applicable to a surgical robot, which is based onsix-degree-of-freedom force sensor mechanical arm orseven-degree-of-freedom force sensor mechanical arm and used in anorthopedic or spinal-type treatment such as a joint replacement, a boneinjury treatment, and the like.

In an embodiment, the step of realizing the safety prevention andcontrol for the surgical robot control system includes implementing thesafety prevention and control for the surgical robot by using any one ormore of the following steps:

-   -   executing an emergency stop control on the mechanical arm,        issuing a warning of a safety risk to the user, generating an        automatic evasion path for the mechanical arm, and prohibiting a        motion of the mechanical arm.

Specifically, the executing the emergency stop control on the mechanicalarm may be that, when the user determines that there is a safety risk inthe motion of the mechanical arm, the user may prevent the mechanicalarm from continuing moving via the emergency stop device 41.

The issuing the warning of the safety risk to the user may be warningthe user of the safety risk, when it is found, based on a real-timecomparison of the actual motion trajectory of the mechanical arm with apredefined security boundary, that the actual motion trajectory is aboutto reach the security boundary.

The generating the automatic evasion path for the mechanical arm mayinclude: generating an simplified obstacle model based on a systemhardware model and an unknown-patient head model, and when the mastercontrol module 10 has planned a path point of the autonomous motionmodule 32, generating, by the obstacle collision evading device 43, theevasion path that may evade the simplified obstacle model.

The prohibiting the motion of the mechanical arm may include: monitoringthe motion trajectory of the mechanical arm in real time, and warningthe user or directly prohibiting the movement of the mechanical arm whenit is found that a deviation between the actual motion trajectory of themechanical arm and the planned motion trajectory is greater than apreset deviation.

This application also provides a surgical robot including the surgicalrobot control system 100 of any one of the above embodiments, amechanical arm, a ground brake, a foot pedal, an imaging device, andother hardware devices.

Referring to FIG. 7 , FIG. 7 shows a main interface of a plurality ofmotion modules 30 in the master control module 10 in an embodiment ofthis application. This application further provides interfaces of thetwo motion modules namely the axial motion module 33 and thefine-adjustment motion module 34 in the master control module 10 to showan operation process of the two motion modules, respectively.

Referring to FIG. 8 , FIG. 8 shows an interface of the axial motionmodule 33 according to an embodiment of this application. An operationmethod for the interface is as follows.

A distance from the first anchor point to a target point is determined,which is completed by preoperative planning. Step on the foot pedal(start the movement of the mechanical arm), and the mechanical arm iscontrolled to move to the first anchor point by using the free motionmodule 31, the autonomous motion module 32, or a combined motion moduleof the free motion module 31 and the autonomous motion module 32.

The master control module 10 may display various categories ofinformation, including image information, fixed data information,real-time data information, and operation information. The imageinformation may be one image or multiple images displayedsimultaneously. The fixed data information and the real-time datainformation may be directly displayed on the image information, or maybe displayed in a separate display area. The operation information maybe used for the user to input information, may be directly displayed onthe image information, or may be displayed in the separate display area.

In a specific embodiment, an “axial mode” is selected from the maininterface of the master control module 10, and the system enter asubpage of the “axial mode”. When the user is required to manuallyadjust the axial position of the terminal instrument, a global real-timedynamic display is shown in the image information display area accordingto the positions of the terminal instrument and the head. As shown inFIG. 8 , the motion mode interface of the axial motion module 33contains information of two views, which are a real-time displayedglobal view and a real-time displayed enlarged view, respectively. Theinformation of two views is used for displaying an overall positionalrelationship, where the human's head is a scanned CT image, and themechanical arm, the instrument and the human's hand are models in STLdata format or in preset 3D data format thereof. When the user isrequired to manually adjust the axial position of the terminalinstrument, the image information display area shows a global real-timedynamic display according to the positions of the terminal instrumentand the head, and shows a movement direction of the puncture axis, thefirst anchor point, the second anchor point, a current terminalinstrument point, a craniotomy point, a target point, etc. The enlargedview is also displayed in the image information display area in realtime, and mainly enlarges an area including the movement direction ofthe puncture axis, the second anchor point, the current terminalinstrument point, and the craniotomy point. The enlarged view may bedynamically adjusted and enlarged according to the position of thecurrent terminal instrument point, or the user may manually adjust andenlarge a partial view.

As shown in FIG. 8 , the motion mode interface of the axial motionmodule 33 further includes a display area of fixed data information. The“craniotomy point coordinate”, “target point coordinate”, “first anchorpoint coordinate”, and “second anchor point coordinate” may be displayedin the display area of fixed data information.

As shown in FIG. 8 , the motion mode interface of the axial motionmodule 33 further includes a display area of real-time data information.For example, data of a thrust (N) exerted on a terminal adapterindicates that a force is applied to the instrument by the user;coordinates of the origin Q of the coordinate system of the terminalinstrument to coordinates of the second anchor point are displayed inreal time; coordinates of the origin Q of the coordinate system of theterminal instrument to coordinates of the craniotomy point are displayedin real time; coordinates of the origin point Q of the coordinate systemof the terminal instrument to coordinates of the target point aredisplayed in real time. The coordinate values in this embodiment aredisplayed with respect to the coordinates of the target point, or may bedisplayed with respect to any other coordinate system. Types ofdisplayed coordinates include, but are not limited to, rectangular andspherical coordinates. What displayed in the display area of thereal-time data information may include all or part of the displayedcontents mentioned above.

As shown in FIG. 8 , the motion mode interface of the axial motionmodule 33 further includes a display area of operation information. Theuser himself/herself may set a maximum distance of the axial mode. Theuser may also select “lock mechanical arm”, “unlock mechanical arm”, or“exit axial motion mode”. To lock the mechanical arm may allow the userto perform other operations more safely without worrying about otherabnormal movements of the mechanical arm. When the user desires an axialmotion mode, the user may unlock the mechanical arm, or exit the currentaxial motion mode. In principle, the axial motion interface is a maininterface of motion module, but the sub-interface may still contain someof the functions of the main interface. For example, if the user doesnot want to return to the main interface to switch the motion mode(e.g., the autonomous motion mode, etc.), switching to other motionmodes may be performed directly in the sub-interface.

Referring to FIGS. 9 and 10 , FIG. 9 shows an interface of planarfine-adjustment in a fine-adjustment motion module 34 according to anembodiment of this application, and FIG. 10 shows an interface ofspheric fine-adjustment in the fine-adjustment motion module 34according to an embodiment of this application. FIG. 9 is taken as anexample to illustrate an operation method for an interface of thefine-adjustment motion module 34:

A distance from the first anchor point to the target point isdetermined, which is completed by preoperative planning. Step on thefoot pedal, and the mechanical arm is controlled to move to the firstanchor point by the selected autonomous motion module 32, or a selectedcombined motion module of the free motion module 31 and the autonomousmotion module 32.

A “planar fine-adjustment mode’ or a “spheric fine-adjustment mode” onthe main interface of the master control module 10 is selected, and thesystem enters a sub-page of the “fine-adjustment mode”. The“fine-adjustment mode” may be further selected between the “planarfine-adjustment mode” and the “spheric fine-adjustment mode”. As shownin FIG. 9 , the motion mode interface of the fine-adjustment motionmodule 34 includes image information, data information, and operationinformation. The image information display area contains information oftwo views, which are a real-time displayed global view (a first view)and a real-time displayed enlarged view (a second view), respectively.

The display area of the data information includes an inputting area of astepped displacement and a display area of position after stepping.After the user inputs the step size, selects the motion mode, andunlocks the mechanical arm, the fine-adjustment motion may start.

The display area of the data information further includes steppingdirection keys. The stepping direction keys include but are not limitedto the keys in the interface of this embodiment, and they may includephysical up, down, left, right keys or corresponding voice recognition,etc. In the direction view, the coordinates of the current positionafter stepping with respect to the initial position, etc., are displayedin real time, and the relative value information is displayed in realtime. The coordinate values in this embodiment are displayed withrespect to the coordinates of the initial anchor point, or may bedisplayed with respect to any other coordinate system. Types ofdisplayed coordinates include, but are not limited to, rectangular andspherical coordinates, etc.

The display area of the operation information includes a mode selectionand switching area, in which the planar fine-adjustment mode or thespheric fine-adjustment mode may be freely switched to each other, andin which a “reset initial anchor point” may be clicked to reset to theinitial anchor point.

The display area of the operation information further includes a controlkey, and the user may lock the mechanical arm after using the step mode,so that other surgical operations may be performed more safely. The usermay also make multiple successive steps up to the desired puncture site.When the fine-adjustment mode is completed, the user may click “exitdirected and quantitative stepping motion mode” of a micro-displacementto enter the main interface of FIG. 7 .

Referring to FIGS. 11 and 12 , an embodiment of this applicationprovides a surgical robot control method, including following steps.

At step S100, position and orientation information at a first anchorpoint 210 and position and orientation information at a second anchorpoint 220 of a terminal adapter 80 fixed at the terminal of themechanical arm are acquired, and a planned path of the mechanical arm 60corresponding to the terminal adapter 80 moving from the first anchorpoint 210 to the second anchor point 220 along the first axis 100 isobtained based on the position and orientation information at the firstanchor point 210 and the position and orientation information at thesecond anchor point 220. The first axis 100 passes through the firstanchor point 210, the second anchor point 220, the first craniotomypoint 121, and the first target point 131 sequentially, and the terminaladapter 80 is configured to clamp a surgical instrument.

The mechanical arm 60 includes a plurality of members. Two adjacentmembers are connected by a joint, which enables the two members torotate relative to each other. One end of the mechanical arm 60 is fixedto the base, and another end of the mechanical arm 60 is fixedlyconnected to the terminal adapter 80. The terminal adapter 80 isconfigured to install a surgical instrument. The surgical instrumentincludes a scalpel, an electric drill, or other surgical instruments.

When the mechanical arm 60 drives the terminal adapter 80 to move fromthe first anchor point 210 to the second anchor point 220 in a straightline along the first axis 100, the mechanical arm 60 are transformedinto different configurations. The relative positions of the pluralityof members in different configurations are different. The planned pathof the mechanical arm 60 includes a plurality of mechanical armconfigurations.

A distance between the second anchor point 220 and the first craniotomypoint 121 is a safe distance. When the terminal adapter 80 moves alongthe first axis 100, the terminal adapter 80 does not clamp the surgicalinstrument. When the surgical instrument is the electric drill, adrilling bit of the electric drill has a certain length. In order toprevent the installed drilling bit from touching the skull, the safedistance is set. After the mechanical arm 60 drives the terminal adapter80 to move to the second anchor point 220, the terminal adapter 80 isnot allowed to move close to the first craniotomy point 121.

In an embodiment, before the step S100, the control method furtherincludes a step S010.

At step S010, a maximum displacement is set, one end point of themaximum displacement is the first anchor point 210, and the other end ofthe maximum displacement is set between the first anchor point 210 andthe second anchor point 220. The mechanical arm 60 drives the terminaladapter 80 to move only within an interval corresponding to the maximumdisplacement.

In an embodiment, if the maximum displacement is not set, a distancebetween a current position at which the terminal adapter 80 is locatedand the first anchor point 210 is the maximum displacement by default.That is, the terminal adapter 80 can only move away from the firstcraniotomy point 121 along the first axis 100.

The maximum displacement is set to make lengths of different surgicalinstruments applicable and to ensure the safety of the operation.

At step S200, it is determined whether a singularity occurs in theplanned path of the mechanical arm 60. That is, it is determined whetherthe singularity occurs in the plurality of mechanical armconfigurations.

In an embodiment, the mechanical arm 60 includes a first member, asecond member, and a third member. The first member and the secondmember are connected by a first joint. The second member and the thirdmember are connected by a second joint. In one of the mechanical armconfigurations with singularity, a speed of the first member connectedat the first joint and a speed of the third member connected at thesecond joint are equal and in opposite directions. Speeds of both endsof the second member are equal and in opposite directions, and thesecond member cannot move. In this case, the mechanical armconfiguration generates the singularity. When deriving a velocity basedon the displacement of a joint, a matrix has singularity. If thesingularity occurs in the mechanical arm configuration, the velocity ofthe joint cannot be accurately controlled.

At step S300, a control signal is acquired if no singularity occurs inthe planned path of the mechanical arm 60.

The control signal may be a force signal exerted on the mechanical arm60 or on the terminal adapter 80 by a person, or may be an electricalsignal applied by an external control device. In an embodiment, thecontrol signal may be compensated. Affected by a position of a signalacquisition device and by an intermediate device, the control signalacquired by the signal acquisition device needs to be compensated toeliminate influences of environmental factors or influences of otherdevices on the control signal, thereby improving the control accuracy ofthe terminal adapter 80.

At step S400, the control signal is converted to a velocity signal. Thestep S400 is a velocity control method. In an embodiment, thecompensated control signal may be converted to the velocity signal.

At step S500, the mechanical arm 60 is controlled to move according tothe velocity signal, so that the mechanical arm 60 drives the terminaladapter 80 to move from the first anchor point 210 to the second anchorpoint 220 in a straight line along the first axis 100.

The surgical robot control method allows the mechanical arm 60 and theterminal adapter 80 to move close to the first target point 131 or moveaway from the first target point 131 along the first axis 100 only, anddoes not allow the terminal adapter 80 to move in other directions.

When the mechanical arm 60 drives the terminal adapter 80 to move closeto the first target point 131, the surgical robot control method mayimprove the positioning accuracy of the surgical instrument reaching thefirst craniotomy point 121. When the mechanical arm 60 drives theterminal adapter 80 to move away from the first target point 131,greater operating space may be provided for installing the surgicalinstrument on the terminal adapter 80.

The mechanical arm 60 drives the terminal adapter 80 to move between thefirst anchor point 210 and the second anchor point 220. When theterminal adapter 80 is used to drill a hole in the skull, it will notdrill too deep to wound cortical tissues.

The surgical robot control method provided in the embodiment of thisapplication, based on the judgement of the singularity of the plannedpath, controls the mechanical arm 60 to move by using the velocitycontrol method in the case that no singularity occurs. The velocitycontrol method controls the mechanical arm 60 and the terminal adapter80 to move at corresponding velocities under the control of the velocitysignal. Compared with a position (joint position) control method, thevelocity control method makes the mechanical arm 60 and the terminaladapter 80 move smoother.

In an embodiment, after the step S200, the surgical robot control methodfurther includes following steps.

At step S210, the control signal is acquired if the singularity occursin the planned path of the mechanical arm 60.

In an embodiment, the step S210 further includes a step of compensatingthe control signal.

At step S220, the control signal is converted to a joint point signal.

In an embodiment, the step S220 further includes converting thecompensated control signal to the joint point signal.

At step S230, the mechanical arm 60 is controlled to move according tothe joint point signal, so that the mechanical arm 60 drives theterminal adapter 80 to move between the first anchor point 210 and thesecond anchor point 220 in a straight line along the first axis 100.

When the singularity occurs in the planned path of the mechanical arm60, there is a case that singularity occurs in the mechanical armconfiguration. In this case, the velocity control method is inconvenientto control the velocity of the joint and tends to cause the velocity tobe out of control. Therefore, when the singularity occurs in the plannedpath of the mechanical arm 60, the position control method is used tocontrol the mechanical arm 60 and the terminal adapter 80 to move,thereby improving the safety of the surgical robot.

In an embodiment, prior to the step S220, the control method furtherincludes:

-   -   taking a real-time collision test.

In an embodiment, the control signal includes an operation force signalexerted on the terminal adapter 80. In an embodiment, the step S300includes a step of compensating the control signal. The step ofcompensating the control signal in the S300 step includes:

-   -   compensating the operation force signal to eliminate influences        of environment and other devices.

In an embodiment, a signal acquisition device is a signal sensing device70. The signal sensing device 70 is fixed to the terminal of themechanical arm 60. The terminal adapter 80 is fixedly mounted to a sideof the signal sensing device 70 away from the terminal of the mechanicalarm 60. The terminal adapter 80 and the signal sensing device 70 areconnected by the second connecting member 400. The signal sensing device70 is connected to the terminal of the mechanical arm 60 by the firstconnecting member 300.

The signal sensing device 70, the terminal adapter 80, the firstconnecting member 300, and the second connecting member 400 each have aweight. When the position and orientation of the terminal of themechanical arm 60 and the position and orientation of the terminaladapter 80 are changed, there will be a weight component along the firstaxis 100, thus affecting the accuracy of the operation force signal.Accordingly, the operation force signal needs to be compensated toeliminate the effects of the weights of the signal sensing device 70,the terminal adapter 80, the first connecting member 300, and the secondconnecting member 400 on the operation force signal.

The step S400 includes following steps.

The compensated operation force signal is converted to obtain a firstvelocity.

The first velocity is projected on the first axis 100 to obtain a secondvelocity, and the terminal adapter 80 is forced to move at the secondvelocity along the first axis 100.

In an embodiment, the first velocity is a velocity in the Cartesiancoordinate system. The first velocity includes components in thedirections of three axes. The first axis 100 is a Z-axis in theCartesian coordinate system.

The step S500 includes following steps.

At step S510, a position information of the terminal adapter 80 isacquired, and a collision test is performed for the mechanical arm 60according to the position information of the terminal adapter 80 and thesecond velocity.

At step S520, the terminal adapter 80 is controlled to move between thefirst anchor point 210 and the second anchor point 220 at the secondvelocity, if no collision occurs to the mechanical arm 60.

Steps S510 and S520 prevent the mechanical arm 60 from colliding withother objects while the mechanical arm 60 is driving the terminaladapter 80 to move, thereby improving the safety of the surgical robot.

Referring to FIG. 13 , in an embodiment, the control signal furtherincludes a pedal signal, and prior to the step of compensating theoperation force signal, the surgical robot control method furtherincludes the following step.

At step S4011, it is determined whether the operation force signal isgreater than a first preset value and the pedal signal is a high level,and if the operation force signal is greater than the first preset valueand the pedal signal is a high level, the step of compensating theoperation force signal is performed. In FIG. 13 , F denotes theoperation force signal.

Only when the operation force signal is greater than the first presetvalue and the pedal signal is at a high level, is the step of convertingthe compensated operation force signal to obtain the first velocityperformed, thereby avoiding a misoperation caused by a misinput signal.

In an embodiment, prior to the step S4011, the surgical robot controlmethod further includes the following step.

At step S4010, it is determined whether a distance between the terminaladapter 80 and the second anchor point 220 is less than a second presetvalue, and if yes, and if it is determined that the operation forcesignal is greater than the first preset value and that the pedal signalis a high level, a direction of the operation force signal isdetermined. If the direction of the operation force signal is away fromthe second anchor point 220, the step of acquiring the operation forcesignal of the terminal adapter 80 and the step of compensating theoperation force are performed.

The terminal adapter 80 moves between the first anchor point 210 and thesecond anchor point 220. When the distance between the terminal adapter80 and the second anchor point 220 is greater than the second presetvalue, the terminal adapter 80 is relatively far away from the secondanchor point 220, and in this case, the velocity control method is usedand has high controllability and causes no danger.

The distance between the terminal adapter 80 and the second anchor point220 is less than the second preset value. When the operation forcesignal is configured to force the terminal adapter 80 to move away fromthe second anchor point 220, the terminal adapter 80 is relatively faraway from the first anchor point 210, and the velocity control method isused to control the movement of the terminal adapter 80 and causes nodanger. In FIG. 13 , S represents the distance between the terminaladapter 80 and the second anchor point 220.

In the previous embodiment, when the distance between the terminaladapter 80 and the second anchor point 220 is less than the secondpreset value, when the operation force signal is greater than the firstpreset value, and when the pedal signal is a high level, the terminaladapter 80 is controlled to move to the second anchor point 220 if thedirection of the operation force signal directs toward the second anchorpoint 220.

When the distance between the terminal adapter 80 and the second anchorpoint 220 is relatively small, and when it is not easy to control theposition of the terminal adapter 80 by the velocity control method, thedisplacement control method is used to directly control the terminaladapter 80 to move to the second anchor point 220, thereby improving thesafety.

In an embodiment, the control signal includes the operation force signalexerted on the terminal adapter 80, and the step of compensating thecontrol signal in step S210 includes:

-   -   compensating the operation force signal.

Prior to the step of acquiring the control signal and compensating thecontrol signal in the step S210, the surgical robot control methodfurther includes following steps.

At step S211, multiple sets of information of joint points of themechanical arm 60 needing to move are obtained according to the plannedpath of the mechanical arm 60.

The path planning of the mechanical arm 60 includes a plurality ofmechanical arm configurations. Each of the mechanical arm configurationscorresponds to a set of information of joint points. The plurality ofmechanical arm configurations correspond to the multiple sets ofinformation of joint points.

In an embodiment, a line segment between the first anchor point 210 andthe second anchor point 220 on the first axis 100 is divided by aninterpolation method into a plurality of joint points in a joint space,to which the terminal adapter 80 moves.

Information of the plurality of joint points to which the terminaladapter 80 moves is in a one-to-one correspondence to multiple sets ofinformation of joint points of the mechanical arm 60. That is, themechanical arm 60 changes into one mechanical arm configuration everytime the terminal adapter 80 moves to one joint point.

At step S212, a collision test is performed for the mechanical arm 60according to the multiple sets of information of the joint points, so asto prevent the mechanical arm 60 from colliding with other objects.

The step S230 includes:

-   -   acquiring position information and joint points signals of the        terminal adapter 80.

Information of the joint points of the mechanical arm 60 needing to moveunder the action of the operation force signal is obtained according tothe position information and the joint points signals of the terminaladapter 80.

The mechanical arm 60 is controlled to move according to the informationof the joint points needing to move, and the terminal adapter 80 isdriven to move in a straight line along the first axis 100.

Based on the position information of the terminal adapter 80, themechanical arm configuration and the information of joint pointscorresponding to the mechanical arm configuration may be obtained. Basedon the information of the joint points corresponding to the currentmechanical arm configuration and the compensated operation force signal,the mechanical arm configuration, into which the mechanical arm 60 needsto change under the action of the operation force signal, and theinformation of the joint points corresponding to the mechanical armconfiguration, may be calculated. By solving the information of thejoint points and by using the joint point position control method tocontrol the terminal adapter 80 to move, the movement position of theterminal adapter 80 is more accurate.

In an embodiment, after the step of controlling the mechanical arm 60 tomove according to the information of the joint points needing to move,and driving the terminal adapter 80 to move in the straight line alongthe first axis 100, the surgical robot control method further includesfollowing steps.

The number of joint points traversed by the terminal adapter 80 iscalculated. The number of joint points traversed by the terminal adapter80 corresponds to the positions of the terminal adapter 80.

Calculating the number of joint points traversed by the terminal adapter80 is obtaining current position information of the terminal adapter 80.

In FIG. 13 , i denotes the number of joint points traversed by theterminal adapter 80. n denotes a total number of the joint points.

It is determined whether the number of joint points traversed by theterminal adapter 80 is less than a total number of joint points thatneeds to be traversed by the terminal adapter 80 moving from the firstanchor point 210 to the second anchor point 220, and if the number ofjoint points traversed by the terminal adapter 80 is less than the totalnumber of joint points, return to the step of compensating the operationforce signal.

That the number of joint points traversed by the terminal adapter 80 isless than the total number of joint points means that the terminaladapter 80 is not located at the second anchor point 220.

In the previous embodiment, the surgical robot control method furtherincludes:

-   -   determining whether the operation force signal is greater than a        first preset value, and the pedal signal is a high level; if        yes, returning to the step of controlling the mechanical arm 60        to move according to the information of the joint points needing        to move, and driving the terminal adapter 80 to move in the        straight line along the first axis 100.

The surgical robot control method avoids no signal input andmisoperation by the step of determining whether the operation forcesignal and the pedal signal simultaneously reach a preset condition.

In an embodiment, the signal sensing device 70 is connected to theterminal adapter 80 by the second connecting member 400. The signalsensing device 70 is connected to the terminal of the mechanical arm 60by the first connecting member 300. The terminal adapter 80 isconfigured to be connected with the surgical instrument.

After the step S300 of acquiring the control signal, the surgical robotcontrol method further includes following steps.

The control signal is filtered to eliminate an influence of noise.

Masses and centers of masses of the signal sensing device 70, theterminal adapter 80, the first connecting member 300, and the secondconnecting member 400 are acquired.

The step of compensating the control signal includes:

-   -   compensating the control signal according to the masses and the        centers of masses of the signal sensing device 70, the terminal        adapter 80, the first connecting member 300, and the second        connecting member 400.

Since the surgical instrument, the first connecting member 300 and thesecond connecting member 400 have different influences on the terminaladapter 80 when the positions and orientations of the terminal of themechanical arm 60 are different, the control signal needs to becompensated in real time in different positions and orientations, so asto measure the operation force more accurately.

After the compensation, the force vector in the coordinate system of thesignal sensing device 70 is transformed into the force vector in thecoordinate system of the terminal adapter 80 through a transitionmatrix.

In an embodiment, after the step S500, the surgical robot control methodfurther includes the following step.

At step S600, if the distance between the terminal adapter 80 and thefirst axis 100 is greater than a third preset value, the terminaladapter 80 is controlled to move to the first axis 100 to ensure thatthe terminal adapter 80 moves along the first axis 100.

In an embodiment, the terminal adapter 80 is controlled to move to thefirst axis 100 in a direction perpendicular to the first axis 100, toensure that a distance the terminal adapter 80 moves to the first axis100 is the shortest.

In a velocity mode, the addition of the step S600 ensures that theposition of the instrument at the terminal is always on the plannedpath, and that the direction of movement is always in the planneddirection.

When no external force is applied, the mechanical arm stops moving, andthe S600 step enables the terminal adapter to be always on the firstaxis 100, that is, the terminal adapter is always on the planned path,which ensures the accuracy (of position and direction) of the operation.

In an embodiment, if no force is applied to the terminal adapter 80, theterminal adapter is locked, to ensure the safety of the operation.

The position control method is also applicable to the case that nosingularity occurs in the planned path of the mechanical arm 60.

In an embodiment, the surgical robot control method further includes:

-   -   receiving an ending signal, and ending the control.

In an embodiment, the surgical robot control method further includes:

-   -   controlling the terminal adapter 80 to move to the first anchor        point 210 in a way of collaboration or automatically.

Referring to FIG. 14 , in an embodiment, when a singularity occurs inthe planned path of the mechanical arm 60, the step of controlling themechanical arm 60 to drive the terminal adapter 80 to move between thefirst anchor point 210 and the second anchor point 220 in a straightline along the first axis 100 by using the velocity control methodincludes following steps.

A control signal is acquired and the control signal is compensated.

The step S400 is performed to force the mechanical arm 60 to drive theterminal adapter 80 to move between the first anchor point 210 and thesecond anchor point 220 in the straight line along the first axis 100.

When the mechanical arm 60 moves to change into a singularconfiguration, the directions of the velocities of the joint points ofthe mechanical arm 60 are changed, and the sizes of the velocities ofthe joint points of the mechanical arm 60 are limited.

After the mechanical arm 60 leaves from the singular configuration, theposition and the velocity of the mechanical arm 60 are corrected, sothat the terminal adapter 80 moves to the first axis 100.

In an embodiment, the direction of the second velocity of the jointpoints of the mechanical arm 60 are changed by a method solving apseudo-inverse matrix of Jacobi, and the speeds of the joint points ofthe mechanical arm 60 are limited.

In an embodiment, after the step S400 is performed, the step S500 isfurther performed.

An embodiment of this application provides a computer device including amemory and a processor. A computer program is stored in the memory. Theprocessor, when executing the computer program, performs the steps ofthe method described in any one of the above embodiments. By restrictingthe terminal adapter 80 to moving between the first anchor point 210 andthe second anchor point 220 in a straight line along the first axis 100,the computer device provided by the embodiment of this applicationreduces calculations for the other two degrees of freedom during themovement of the terminal adapter 80, thereby reducing the amount ofcalculation, and improving the working efficiency of the robot.

In addition, the computer device, based on the judgement of thesingularity of the planned path, controls the motion of the mechanicalarm 60 by using the velocity control method in the case that nosingularity occurs. The velocity control method controls the mechanicalarm 60 and the terminal adapter 80 to move at corresponding velocitiesunder the control of the velocity signal. Compared with the computerdevice using the position control method, the computer device using thevelocity control method makes the mechanical arm 60 and the terminaladapter 80 move smoother.

An embodiment of this application provides a surgical robot system 50,which includes a mechanical arm 60, a signal sensing device 70, aterminal adapter 80, and a control device. The signal sensing device 70is fixed to the terminal of the mechanical arm 60. The terminal adapter80 is fixedly mounted to the signal sensing device 70. The terminaladapter 80 is configured to have a surgical instrument mounted thereonand receive a control signal. The control device includes a memory and aprocessor. A computer program is stored in the memory. The processor,when executing the computer program, performs the steps of the method ofany one of the above-described embodiments.

By restricting the terminal adapter 80 to moving between the firstanchor point 210 and the second anchor point 220 in the straight linealong the first axis 100, the surgical robot system 50 reducescalculations for the other two degrees of freedom during the movement ofthe terminal adapter 80, thereby reducing the amount of calculation, andimproving the working efficiency of the robot.

In addition, the surgical robot system 50, based on the judgement of thesingularity of the planned path, controls the motion of the mechanicalarm 60 by using the velocity control method in the case that nosingularity occurs. The velocity control method controls the mechanicalarm 60 and the terminal adapter 80 to move at corresponding velocitiesunder the control of the velocity signal. Compared with the surgicalrobot system 50 using the position control method, the surgical robotsystem 50 using the velocity control method makes the mechanical arm 60and the terminal adapter 80 move smoother.

In an embodiment, the surgical robot system 50 further includes a firstconnecting member 300 and a second connecting member 400. The firstconnecting member 300 is connected between the signal sensing device 70and the terminal adapter 80 to facilitate removal and replacement of theterminal adapter 80. The second connecting member 400 is connected tothe terminal adapter 80 and the terminal of the mechanical arm 60 tofacilitate removal and replacement of the signal sensing device 70.

In an embodiment, the surgical robot system 50 further includes anoptical monitoring device 110. The optical monitoring device 110includes an optical element 116 and a detector 117. The optical element116 is disposed at the terminal adapter 80, and the optical element 116is configured to generate an optical signal. The detector 117 iselectrically connected to the detector 117. The detector 117 isconfigured to receive the optical signal, detect the positioninformation of the terminal adapter 80 through the optical signal, andoutput the position information to the control device.

In a robot-assisted surgery, a surgeon has a patient's brain scanned.Based on a scanned image, the surgeon may determine relevant informationof a focus of a disease. The surgeon formulates a surgical protocolaccording to the relevant information of the focus of the disease andother information of the patient's brain. Multiple puncture paths areincluded in the surgical protocol. Each puncture path includesinformation such as a target point of the puncture path, a craniotomypoint location, a diameter of the path, or a length of the instrument.The target point is positioned at the focus of the disease, and thecraniotomy point is positioned on the skull surface of the patient. Thepuncture path is also referred to as a path of the needle track. In aprocess of puncturing, the terminal adapter 80 of the mechanical arm 60needs to be positioned nearby the craniotomy point before the surgeonperforms a puncturing operation.

Referring to FIGS. 15 and 16 , an embodiment of this applicationprovides a control method for a terminal adapter 80 of a mechanical arm60, and the control method includes following steps.

At step S1000, a first path 111 is acquired. The first path 111 passesthrough a second target point 132 and a second craniotomy point 122, andthe terminal adapter 80 is located at a third anchor point 330. Thefirst path 111 passes through the third anchor point 330, the secondcraniotomy point 122, and the second target point 132 in sequence.

At step S2000, a position command is obtained, and according to theposition command, the terminal adapter 80 is controlled to move along afirst plane or a first spherical surface in which the third anchor point330 is located. The first plane is perpendicular to the first path 111.

The control method for the terminal adapter 80 of the mechanical arm 60provided by the embodiment of this application controls the terminaladapter 80 to move along the first plane or the first spherical surfacein which the third anchor point 330 is located, and the first plane isperpendicular to the first path 111, thereby reducing the degrees of thefreedom of the movement of the terminal adapter 80, avoiding remodeling,data acquisition and path planning, and saving time. Even if theposition of the target point is changed for several times, a newpuncture path may be quickly obtained, thereby improving the efficiencyof the surgery.

The position command includes mode information, distance information,direction information, step size information, etc.

In an embodiment, if the position command includes position informationof the third target point 133, the step of controlling the terminaladapter 80 to move along the first plane in which the third anchor point330 is located according to the position command includes followingsteps.

At step S2100, a second path 112 passing through the third target point133 is obtained according to the position information of the thirdtarget point 133 and the first path 111. The second path 112 is parallelto the first path 111.

At step S2200, the terminal adapter 80 is driven to move to a fourthanchor point 440.

By locating the third target point 133 position, and obtaining thesecond path 112 parallel to the first path 111 according to the positioninformation of the third target point 133 and the first path 111, thecontrol method for the terminal adapter 80 of the mechanical arm 60provided by the embodiment of this application avoids the remodeling,the data acquisition and the path planning, and saves the time. Even ifthe position of the target point is changed for several times, the newpuncture path may be quickly obtained, thereby improving the efficiencyof the surgery.

The position information of the third target point 133 may includemovement direction information or a target position information or thelike.

The second target point 132 is an original target point. The secondcraniotomy point 122 is an original craniotomy point. The third targetpoint 133 is a new target point obtained by correcting the originaltarget. A fourth craniotomy point 124 is a new craniotomy point obtainedby correcting the original craniotomy point. The first path 111 is anoriginal puncture path, and the second path 112 is a new puncture path.

The terminal adapter 80 is configured to install a surgical instrument.The surgical instrument includes a scalpel, an electric drill, or othersurgical instruments.

The terminal adapter 80 moves to the third anchor point 330 manually orautomatically.

The step of obtaining the second path 112 passing through the thirdtarget point 133 according to the position information of the thirdtarget point 133 and the first path 111 in the step S2100 includes:

-   -   making a straight line going through the third target point 133        and parallel to the first path 111. The straight line is a        straight line in which the second path 112 is located.

The terminal adapter 80 may move to the straight line along a straightline or a curve.

In an embodiment, the control method for the terminal adapter 80 of themechanical arm 60 further includes the following step.

At step S410, a safe distance is obtained. The safe distance is aminimum distance between the terminal adapter 80 and the fourthcraniotomy point 124. The terminal adapter 80 is controlled to be lockedwhen the distance between the terminal adapter 80 and the fourthcraniotomy point 124 is the safe distance.

In an embodiment, the surgical instrument is the electric drill. Afterthe electric drill is installed on the terminal adapter 80, the terminaladapter 80 is controlled to drive the electric drill to drill a hole atthe fourth craniotomy point 124.

In an embodiment, the step S300 of driving the terminal adapter 80 tomove to the fourth anchor point 440 includes the following step.

The terminal adapter 80 is driven to move to the fourth anchor point 440in a direction perpendicular to the first path 111. The distance theterminal adapter 80 moves perpendicularly to the fourth anchor point 440is the minimum distance, thereby shortening the surgical preparationtime, and improving the work efficiency.

After the step of driving the terminal adapter 80 to move to the fourthanchor point 440 in the direction perpendicular to the first path 111,the control method further includes the following step.

The terminal adapter 80 is controlled to move along the second path 112.

Referring to FIG. 17 , in an embodiment, after the step S2200, thecontrol method for the terminal adapter 80 of the mechanical arm 60further includes following steps.

At step S310, a maximum allowable distance Lmax is obtained.

At step S320, the terminal adapter 80 is controlled to be locked whenthe distance the terminal adapter 80 moves along the first plane reachesthe maximum allowable distance Lmax.

The maximum allowable distance Lmax is the maximum displacement that theterminal adapter 80 is allowed to move in the direction perpendicular tothe first path 111. The distance the terminal adapter 80 moves is aradial distance between the position of the terminal adapter 80 and thethird anchor point 330.

In an embodiment, the terminal adapter 80 is controlled to move along astraight line perpendicular to the first path 111, therefore the movingrange of the terminal adapter 80 is a circular area taking the thirdanchor point 330 as a center point and taking the maximum allowabledistance Lmax as a radius. The plane in which the circular area islocated is perpendicular to the first path 111. The point on the edge ofthe circular area is a first limit point 113. The distance between thefirst limit point 113 and the third anchor point 330 is the maximumallowable distance Lmax. That is, the terminal adapter 80 can move onlyin the circular area.

The projected area of the circular area projected on the skull of thepatient is an area in which a correction of the craniotomy point isallowed.

The maximum allowable distance Lmax is related to the position of theoriginal target and the tissue structure nearby the original target. Aprojected area of the circular area, which corresponds to the maximumallowable distance Lmax and is projected on the head of the patient, isa safe area. When a surgeon punches a skull or removes the focus of thedisease in the safe area, other brain tissues will not be damaged orwill be damaged a little.

The maximum allowable distance Lmax is relatively small generally. Themaximum allowable distance Lmax is between 5 mm and 10 mm.

In an embodiment, a technician's manual operation for the terminaladapter 80 is acceptable, but the terminal adapter 80 is allowed to moveonly in a direction perpendicular to the first path 111. The technicianmay manually operate the terminal adapter 80 to move freely within thecircular area.

In an embodiment, the step of driving the terminal adapter 80 to move tothe fourth anchor point 440 in the direction perpendicular to the firstpath 111 includes the following step.

The control method for the terminal adapter 80 of the mechanical arm 60controls the terminal adapter 80 to move in a step-by-step movingmanner, so that the position information of the terminal adapter 80 maybe accurately obtained by recording the number of steps, therebyreducing an information delay and improving security.

A first step size is less than the maximum allowable distance Lmax. Thefirst step size is between 0.1 mm and 1 mm.

Referring to FIG. 18 , in an embodiment, after the step S300, thecontrol method for the terminal adapter 80 of the mechanical arm 60further includes following steps.

At step S310, the maximum allowable distance Lmax is obtained.

At step S302, a spacing distance between the third anchor point 330 andthe fourth anchor point 440 is obtained.

At step S303, the terminal adapter 80 is prevented from moving away fromthe third anchor point 330 when a difference between the maximumallowable distance Lmax and the spacing distance is less than the firststep size. That is, the terminal adapter 80 can move only towards thethird anchor point 330 or does not move, thus preventing the terminaladapter 80 from moving beyond the maximum allowable distance Lmax, andprotecting the brain from being damaged due to the terminal adapter 80moving beyond the safe area.

In an embodiment, when the difference between the maximum allowabledistance Lmax and the spacing distance is less than the first step sizeand greater than the second step size, the terminal adapter 80 iscontrolled to move step by step with the second step size. The secondstep size is smaller than the first step size.

The step of preventing the terminal adapter 80 from moving away from thethird anchor point 330 is performed when the difference between themaximum allowable distance Lmax and the spacing distance is less thanthe second step size.

By adjusting and reducing the step size of the terminal adapter 80, thestep-by-step moving range of the terminal adapter 80 may be increased toobtain a larger correction space for the craniotomy point and the targetpoint.

In the above-mentioned embodiment, the motion mode of the terminaladapter 80 is a planar fine-adjustment mode. The terminal adapter 80moves perpendicularly to the fourth anchor point 440, and then movesalong the second path 112 parallel to the first path 111. Both thecraniotomy point and the target point are corrected.

Referring to FIG. 19 , in an embodiment, prior to the step of obtainingthe first path 111, the following step is further included.

At step S001, the motion mode is acquired, and if the motion mode is theplanar fine-adjustment mode, the step of acquiring the first path 111 isperformed.

Referring to FIGS. 20 and 21 , in an embodiment, if the motion mode isswitched from the planar fine-adjustment mode to the sphericfine-adjustment mode after the step of driving the terminal adapter 80to move to the fourth anchor point 440, then following steps areincluded.

At step S2300, position information of the fifth craniotomy point 125 isacquired, the terminal adapter 80 is controlled to make an arc motionwhich is made by taking the third target point 133 as a center of asphere and taking the distance between the third target point 133 andthe fourth anchor point 440 as a radius, so that the terminal adapter 80moves to the sixth anchor point 460. The third target point 133, thefifth craniotomy point 125, and the sixth anchor point 460 aresequentially arranged on the same straight line.

If the terminal adapter 80 makes the arc motion which is made by takingthe third target point 133 as the center of the sphere and taking thedistance between the third target point 133 and the fourth anchor point440 as the radius, the range of movement of the terminal adapter 80 inthe spheric fine-adjustment mode is partial spherical surface. Thecenter of the sphere is the third target point 133, and the radius ofthe sphere is the distance between the third target point 133 and thefourth anchor point 440.

The line connecting the third target point 133 and the fifth craniotomypoint 125 is a third path 115. An intersection of the third path 115 andthe patient's skull is a puncture target. The puncture target is denotedby the fifth craniotomy point 125.

In an embodiment, after the step of driving the terminal adapter 80 tomove to the fourth anchor point 440, the control method further includescontrolling the terminal adapter 80 to move a distance along the secondpath 112 and then switching the motion mode to the sphericfine-adjustment mode.

By switching the motion mode, the position of the craniotomy point maybe changed, thus selectively evading important brain tissues between thecraniotomy point and the target point to improve the safety of theoperation.

Referring to FIG. 22 , in an embodiment, the control method for theterminal adapter 80 of the mechanical arm 60 further includes followingsteps.

At step S2400, a maximum allowable arc length Lmax is acquired.

At step S2500, when an arc length the terminal adapter 80 moves reachesthe maximum allowable arc length Lmax, the terminal adapter 80 iscontrolled to be locked, so as to ensure the safety of the position ofthe craniotomy point of the puncture operation.

The maximum allowable arc length Lmax is a maximum displacement of anarc motion which is made by taking the third target point 133 as thecenter of the sphere and taking the distance between the third targetpoint 133 and the fourth anchor point 440 as the radius.

In FIG. 21 , an arc length between the fourth anchor point 440 and thesixth anchor point 460 is the maximum allowable arc length Lmax. Themaximum allowable arc length Lmax is related to the position of theoriginal target and the tissue structure of the brain.

In an embodiment, the step of controlling the terminal adapter 80 tomake the arc motion, which is made by taking the third target point 133as the center of the sphere and taking the distance between the thirdtarget point 133 and the fourth anchor point 440 as the radius, to forcethe terminal adapter 80 to move to the sixth anchor point 460 includes:

-   -   controlling the terminal adapter 80 to move to the sixth anchor        point 460 step by step with the first arc length.

The control method for the terminal adapter 80 of the mechanical arm 60controls the terminal adapter 80 to move in the step-by-step movingmanner, thus making it convenient to accurately acquire the positioninformation of the terminal adapter 80 by recording the number of steps,reducing the information delay, and improving the security.

Referring to FIG. 23 , in an embodiment, the control method for theterminal adapter 80 of the mechanical arm 60 further includes followingsteps.

At step S2400, the maximum allowable arc length Lmax is acquired.

At step S2600, a spacing arc length between the fourth anchor point 440and the sixth anchor point 460 is obtained.

At step S2700, the terminal adapter 80 is prevented from moving awayfrom the fourth anchor point 440 when a difference between the maximumallowable arc length Lmax and the spacing arc length is less than thefirst arc length. That is, the terminal adapter 80 can move only towardsthe fourth anchor point 440 or does not move, thus preventing theterminal adapter 80 from moving beyond the maximum allowable arc lengthLmax, and protecting the brain from being damaged due to the terminaladapter 80 moving beyond the safe area.

In an embodiment, when the difference between the maximum allowable arclength Lmax and the spacing arc length is less than the first arc lengthand greater than the second arc length, the terminal adapter 80 iscontrolled to move step by step with the second arc length. The secondarc length is smaller than the first arc length.

The step of preventing the terminal adapter 80 from moving away from thefourth anchor point 440 is performed when the difference between themaximum allowable arc length Lmax and the spacing arc length is lessthan the second arc length. By adjusting and reducing the step arclength of the terminal adapter 80, the step-by-step moving range of theterminal adapter 80 may be increased to obtain a larger correction spacefor the craniotomy point.

In an embodiment, the control method for the terminal adapter 80 of themechanical arm 60 further includes:

-   -   controlling the terminal adapter 80 to reset to the third anchor        point 330 to avoid re-planning a path due to operational errors.

Referring to FIG. 24 and FIG. 25 , in an embodiment, if the positioncommand is position information of the third craniotomy point 123, thenthe step of controlling the terminal adapter 80 to move along the firstspherical surface in which the third anchor point 330 is locatedaccording to the position command includes the following step.

At step S020, the terminal adapter 80 is controlled to make the arcmotion which is made by taking the second target point 132 as the centerof the sphere and taking the distance between the second target point132 and the third anchor point 330 as the radius and move to the fifthanchor point 450. The second target point 132, the third craniotomypoint 123, and the fifth anchor point 450 are arranged in a straightline in sequence.

In the control method for the terminal adapter 80 of the mechanical arm60 provided by the embodiment of this application, the positions of thethird craniotomy point 123 and the second target point 132 arepositioned, and a new puncture path is obtained through planning the arcmotion which is made by taking the second target point 132 as the centerof the sphere and by taking the distance between the second target point132 and the fifth anchor point 450 as the radius. The control method forthe terminal adapter 80 of the mechanical arm 60 avoids the remodeling,the data acquisition and the path planning, and saves time. Even if theposition of the target point is changed for several times, the newpuncture path may be quickly obtained, thereby improving the efficiencyof the surgery.

Referring to FIG. 26 , in an embodiment, after the step S020, thecontrol method for the terminal adapter 80 of the mechanical arm 60further includes following steps.

At step S030, the maximum allowable arc length Lmax is obtained.

At step S040, the terminal adapter 80 is controlled to be locked whenthe arc length the terminal adapter 80 moves reaches the maximumallowable arc length Lmax, to ensure the safety of the position of thecraniotomy point of the puncture operation.

The maximum allowable arc length Lmax is a maximum displacement of thearc motion which is made by taking the second target point 132 as thecenter of the sphere and taking the distance between the second targetpoint 132 and the third anchor point 330 as the radius.

In FIG. 25 , the edge point of an arc away from the third anchor point330 is a second limit point 114. Where the arc corresponds to themaximum displacement of the arc motion which is made by taking thedistance between the second target point 132 and the third anchor point330 as the radius. The arc length between the third anchor point 330 andthe second limit point 114 is the maximum allowable arc length Lmax. Themaximum allowable arc length Lmax is related to the location of theoriginal target and the tissue structure of the brain.

In an embodiment, the step of controlling the terminal adapter 80 tomake the arc motion which is made by taking the second target point 132as the center of the sphere and taking the distance between the secondtarget point 132 and the third anchor point 330 as the radius and tomove to the fifth anchor point 450 includes:

-   -   controlling the terminal adapter 80 to move to the fifth anchor        point 450 step by step with the first arc length.

After the terminal adapter 80 moves to the fifth anchor point 450, thecontrol method further includes:

-   -   controlling the terminal adapter 80 to move towards the second        target point 132.

The control method for the terminal adapter 80 of the mechanical arm 60controls the terminal adapter 80 to move in the step-by-step movingmanner, so that the position information of the terminal adapter 80 maybe accurately obtained by recording the number of steps, therebyreducing the information delay and improving the security.

Referring to FIG. 27 , in an embodiment, after the step S020, thecontrol method for the terminal adapter 80 of the mechanical arm 60further includes following steps.

At step S030, a maximum allowable arc length Lmax is obtained.

At step S021, a spacing arc length between the third anchor point 330and the fifth anchor point 450 is obtained.

At step S022, the terminal adapter 80 is prevented from moving away fromthe third anchor point 330 when a difference between the maximumallowable arc length Lmax and the spacing arc length is less than thefirst arc length. That is, the terminal adapter 80 can only move towardsthe third anchor point 330 or does not move, thus preventing theterminal adapter 80 from moving beyond the maximum allowable distanceLmax, and protecting the brain from being damaged due to the terminaladapter 80 moving beyond the safe area.

In an embodiment, the control method for the terminal adapter 80 of themechanical arm 60 further includes following steps.

The terminal adapter 80 is controlled to move step by step with thesecond arc length, when the difference between the maximum allowable arclength Lmax and the spacing arc length is less than the first arc lengthand greater than the second arc length. The second arc length is lessthan the first arc length.

The step of preventing the terminal adapter 80 from moving away from thethird anchor point 330 is performed when the difference between themaximum allowable arc length Lmax and the spacing arc length is lessthan the second arc length. By adjusting and reducing the step size ofthe terminal adapter 80, the step-by-step moving range of the terminaladapter 80 may be increased to obtain a larger correction space for thecraniotomy point.

In an embodiment, the terminal adapter 80 is controlled to move step bystep with the second arc length when the difference between the maximumallowable arc length and the spacing arc length is less than the firstarc length and greater than the second arc length.

The step of preventing the terminal adapter 80 from moving away from thethird anchor point 330 when the difference between the maximum allowablearc length and the spacing arc length is less than the second arclength. The second arc length is smaller than the first arc length. Byadjusting and reducing the step size of the terminal adapter 80, thestep-by-step moving range of the terminal adapter 80 may be increased toobtain a larger correction space for the craniotomy point.

In the spheric mode, any point may be set as a target point, and theterminal adapter 80 may be controlled to move on the spherical surfacewhich takes the target point as a center and takes the distance betweena point on the terminal adapter 80 and the target point as a radius.

The target point may be one of the craniotomy point, the target point,and any other point.

The point on the terminal adapter 80 may be defined optionally.Technical features of the embodiments described above may be combinedarbitrarily. For the sake of brevity, not all possible combinations ofthe technical features of the embodiments above are described. However,the combinations of these technical features should be considered to bewithin the scope of the present description as long as thesecombinations do not contradict each other.

The technical features of the embodiments described above may becombined arbitrarily. For the sake of brevity, not all possiblecombinations of the technical features of the embodiments above aredescribed. However, the combinations of these technical features shouldbe considered to be within the scope of the present description as longas these combinations do not contradict each other.

The embodiments above only represent some examples of this application,and the description thereof is more specific and detailed, but is not beconstrued as limitation on the scope of the invention patent. It shouldbe noted that various variations and modifications may be made by thoseof ordinary skill in the art without departing from the spirit and scopeof this application, and these variations and modifications are allwithin the protection of the present application. Accordingly, the scopeof protection of the present application patent should be subject to theappended claims.

1-21. (canceled)
 22. A surgical robot control method, comprising: receiving a user demand, and generating an interactive control command; generating a motion control command according to the interactive control command; and controlling a terminal of a mechanical arm to perform the motion control command, and the motion control command comprising controlling the terminal of the mechanical arm to act in accordance with a plurality of motion modes.
 23. The surgical robot control method of claim 22, wherein: in steps of controlling the terminal of the mechanical arm to perform the motion control command, and the motion control command comprising controlling the terminal of the mechanical arm to act in accordance with the plurality of motion modes, the plurality of motion modes comprises: a free motion mode, an autonomous motion mode, an axial motion mode, a fine-adjustment motion mode, and a spheric motion mode.
 24. The surgical robot control method of claim 23, wherein, the motion control command comprises any one or more of following four control commands of: controlling each of the plurality of motion modes to be performed circularly for several times; controlling interactions between the autonomous motion mode and each of the free motion mode, the axial motion mode, the fine-adjustment motion mode, and the spheric motion mode to be performed; controlling a two-way interaction between the axial motion mode and the fine-adjustment motion mode, a two-way interaction between the axial motion mode and the spheric motion mode, and a two-way interaction between the fine-adjustment motion mode and the spheric motion mode to be performed; and controlling a one-way switching of each of the axial motion mode, the fine-adjustment motion mode, and the spheric motion mode to the free motion mode to be performed.
 25. The surgical robot control method of claim 24, further comprising: performing an information interaction with at least one of the plurality of motion modes, and realizing a safety prevention and control for a surgical robot.
 26. The surgical robot control method of claim 25, wherein a step of realizing the safety prevention and control for the surgical robot comprises realizing the safety prevention and control for the surgical robot by using any one or more of: executing an emergency stop control on the mechanical arm; issuing a warning of a safety risk to a user; generating an automatic evasion path for the mechanical arm; and prohibiting a motion of the mechanical arm.
 27. A surgical robot control system, comprising: a master control module, configured to generate a motion control command; an interaction module, being in an information interaction with the master control module, and configured to receive a user demand, generate an interactive control command, and send the interactive control command to the master control module; and a plurality of motion modules, being in information interactions with the master control module, and configured to perform the motion control command.
 28. The surgical robot control system of claim 27, wherein the plurality of motion modules comprises: a free motion module, being in information interactions with each of the master control module and the interaction module, and configured to control a free movement of a terminal of a mechanical arm; an autonomous motion module, being in information interactions with each of the master control module and the interaction module, and configured to make an autonomous motion according to a path point planned by the master control module; an axial motion module, being in information interactions with each of the master control module and the interaction module, and configured to control the terminal of the mechanical arm to move along a predefined axial direction, and an adjustment motion module, being in information interactions with each of the master control module and the interaction module, and configured for a final adjustment for the terminal of the mechanical arm before an axial motion.
 29. The surgical robot control system of claim 28, wherein the adjustment motion module comprises at least one of: a fine-adjustment motion module, being in information interactions with each of the master control module and the interaction module, and configured to control the terminal of the mechanical arm to move a predetermined distance in a fixed direction in a predefined plane; and a spheric motion module, being in information interactions with each of the master control module and the interaction module, and configured to control the terminal of the mechanical arm to move along a predefined spherical surface.
 30. The surgical robot control system of claim 29, wherein the interaction module comprises: a self-circulating interaction device, being in information interactions with each of the plurality of motion modules, and configured to control each of the plurality of motion modules to execute circularly for several times.
 31. The surgical robot control system of claim 29, wherein the interaction module further comprises: an autonomous interaction device, being in information interactions with each of the plurality of motion modules, and configured to control information interactions between the autonomous motion module and each of the free motion module, the axial motion module, the fine-adjustment motion module, and the spheric motion module to be performed.
 32. The surgical robot control system of claim 29, wherein the interaction module further comprises: a predefined motion interaction device, being in information interactions with each of the axial motion module, the fine-adjustment motion module, and the spheric motion module, and configured to control a two-way interaction between the axial motion module and the fine-adjustment motion module, a two-way interaction between the axial motion module and the spheric motion module, and a two-way interaction between the fine-adjustment motion module and the spheric motion module to be performed.
 33. The surgical robot control system of claim 29, wherein the interaction module further comprises: a one-way switching device, being in information interactions with each of the free motion module, the axial motion module, the fine-adjustment motion module, and the spheric motion module, and configured to control a one-way switching of each of the axial motion module, the fine-adjustment motion module, and the spheric motion module to the free motion module to be performed.
 34. The surgical robot control system of claim 28, further comprising: a safety prevention and control system, being in information interactions with each of the master control module and at least one of the plurality of motion modules, and configured to execute a safety prevention and control for the surgical robot control system.
 35. The surgical robot control system of claim 34, wherein the safety prevention and control system comprises: an emergency stop device, being in information interactions with each of the plurality of motion modules, and a user preventing the mechanical arm from continuing moving via the emergency stop device when the user determines that there is a safety risk to a movement of the mechanical arm.
 36. The surgical robot control system of claim 34, wherein the safety prevention and control system further comprises: a safety boundary arithmetic device, being in information interactions with each of the free motion module, the axial motion module, and the spheric motion module, and configured to warn the user of the safety risk when it is found that an actual motion trajectory is about to reach a security boundary according to a real-time comparison between the actual motion trajectory of the mechanical arm and a predefined security boundary.
 37. The surgical robot control system of claim 34, wherein the safety prevention and control system further comprises: an obstacle collision evading device, being in an information interaction with the autonomous motion module, and configured to generate a simplified obstacle model based on a system hardware model and an unknown-patient head model, and generate an evasion path evading the simplified obstacle model when the master control module has planned a path point for the autonomous motion module.
 38. The surgical robot control system according to claim 34, wherein the safety prevention and control system further comprises: a trajectory interlocking device, being in information interactions with each of the plurality of motion modules, and configured to monitor a motion trajectory of the mechanical arm in real time, and warn the user or directly prohibit the movement of the mechanical arm when it is found that a deviation between the actual motion trajectory of the mechanical arm and the planned motion trajectory is greater than a preset deviation.
 39. A computer-readable storage medium, having a computer program stored thereon, wherein, the computer program, when executed by a processor, causes the processor to perform steps of the method of claim
 22. 